CN113534750B - Job scheduling method, device, system, equipment and medium under intensive storage - Google Patents
Job scheduling method, device, system, equipment and medium under intensive storage Download PDFInfo
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Abstract
The invention provides a job scheduling method, a device, a system, equipment and a medium under intensive storage, wherein the method comprises the following steps: determining a dependency relationship among the tasks to be executed according to the path obstruction relationship among the tasks to be executed to obtain at least one task dependency set; splitting each task dependent set into at least one task subset, and determining the dependency relationship among the task subsets; determining the priority of each task subset according to the dependency among the task subsets, and determining the priority of the task to be executed according to the dependency among the tasks to be executed in the task subsets; executing each task subset in sequence according to the priority of each task subset; and when each task subset is executed, determining at least one carrying device for executing the tasks to be executed in the task subset, and scheduling the at least one carrying device to execute the tasks to be executed according to the task types and the priorities of the tasks to be executed. The invention can improve the operation efficiency.
Description
The present application claims priority of chinese patent application entitled "job scheduling method under dense storage, apparatus, electronic device, and storage medium" filed by chinese patent office on 15/4/2020, application No. 2020102967594, the entire contents of which are incorporated herein by reference.
Technical Field
The invention relates to the technical field of robot control, in particular to a job scheduling method and device under intensive storage, a warehousing system, electronic equipment and a storage medium.
Background
In a dense storage environment, a situation that a previous obstructing container is often encountered when a single warehousing task is completed, and in this case, the obstructing container is usually removed first and then a formal task is performed, which often results in low efficiency. For example, in a typical intensive storage scenario represented by a pallet four-way shuttle vehicle shown in fig. 1, the pallet 1 in the storage space 1 needs to be unloaded by controlling 1 robot a to move the pallet 2 in the storage space 2 out of the lane, and then a new robot B is dispatched or the robot a enters the lane to move the pallet 1 to be unloaded after completing a task, the whole process is performed in series, and the unloading task of the pallet 1 cannot be started at all before the task of moving the pallet 2 is completed, which results in low operation efficiency. For another example, in a typical intensive storage scenario represented by a tray four-way shuttle vehicle shown in fig. 1, the storage positions 1 and 2 both wait for the trays to be put in storage, but if the storage position 2 finishes putting in storage first, and when the tray of the storage position 1 needs to be put in storage, the tray of the storage position 2 must be moved out first, which causes a lot of efficiency loss.
Under the condition that a task is urgent, timeliness of task completion cannot be guaranteed through the method, and the negative effect is proportional to the depth of a roadway.
Disclosure of Invention
In view of the above problems, embodiments of the present invention are provided to provide a job scheduling method under dense storage, an apparatus, a warehousing system, an electronic device and a storage medium that overcome or at least partially solve the above problems.
According to a first aspect of the embodiments of the present invention, there is provided a job scheduling method under dense storage, including:
determining a dependency relationship among the tasks to be executed according to the path obstruction relationship among the tasks to be executed to obtain at least one task dependency set;
according to the roadway and the task type of the task to be executed in each task dependency set, splitting each task dependency set into at least one task subset, and determining the dependency relationship among the task subsets; the task type comprises moving goods out of a roadway or moving goods into the roadway;
determining the priority of each task subset according to the dependency among the task subsets, and determining the priority of the tasks to be executed in each task subset according to the dependency among the tasks to be executed in each task subset;
executing each task subset in sequence according to the priority of each task subset;
when each task subset is executed, at least one carrying device for executing the tasks to be executed in the task subset is determined, and the at least one carrying device is scheduled to execute the tasks to be executed in the task subset according to the task types in the task subset and the priorities of the tasks to be executed in the task subset.
According to a second aspect of embodiments of the present invention, there is provided a warehousing system comprising:
a job scheduling device for executing the job scheduling method according to the first aspect;
and the carrying equipment is used for carrying goods under the control of the operation scheduling device.
According to a third aspect of the embodiments of the present invention, there is provided a job scheduling apparatus under dense storage, including:
the task dependency set determining module is used for determining the dependency relationship among the tasks to be executed according to the path obstruction relationship of each task to be executed to obtain at least one task dependency set;
the subset dividing module is used for dividing each task dependency set into at least one task subset according to the roadway and the task type of the task to be executed in each task dependency set, and determining the dependency relationship among the task subsets; the task type comprises moving goods out of a roadway or moving goods into the roadway;
the priority determining module is used for determining the priority of each task subset according to the dependency relationship among the task subsets and determining the priority of the tasks to be executed in each task subset according to the dependency relationship among the tasks to be executed in the task subsets;
the subset execution control module is used for sequentially executing each task subset according to the priority of each task subset;
wherein the subset execution control module comprises:
and the task control unit in the subset is used for determining at least one carrying device for executing the tasks to be executed in the task subset when executing each task subset, and scheduling the at least one carrying device to execute the tasks to be executed in the task subset according to the task types in the task subset and the priority of the tasks to be executed in the task subset.
According to a fourth aspect of an embodiment of the present invention, there is provided an electronic apparatus including: a processor, a memory and a computer program stored on and executable on the memory, which computer program, when executed by the processor, implements a method of job scheduling under dense storage as described in the first aspect.
According to a fifth aspect of embodiments of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for job scheduling in dense storage according to the first aspect.
According to the job scheduling method, the job scheduling device, the job scheduling system, the job scheduling electronic equipment and the job scheduling storage medium under the intensive storage, at least one task dependency set is obtained through the dependency relationship among tasks to be executed, each task dependency set is divided into at least one task subset according to the roadway to which the tasks to be executed belong and the task type, the priority of each task subset and the priority of the tasks to be executed in each task subset are determined, each task subset is executed in sequence according to the priority of each task subset, and at least one carrying device is scheduled to execute the tasks to be executed in each task subset according to the priority of the tasks to be executed in each task subset. When the task subsets are executed, the task subsets are sequentially executed according to the priorities of the task subsets, and the tasks to be executed in each task subset are also executed according to the priorities of the tasks to be executed, so that the tasks to be executed which can block other tasks to be executed can be preferentially executed, the operation efficiency can be improved, and the warehouse entry and exit efficiency can be improved.
The above description is only an overview of the technical solutions of the present invention, and the present invention can be implemented in accordance with the content of the description so as to make the technical means of the present invention more clearly understood, and the above and other objects, features, and advantages of the present invention will be more clearly understood.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.
FIG. 1 is a schematic diagram of a prior art dense storage scenario;
FIG. 2 is a flowchart illustrating steps of a job scheduling method under dense storage according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the structure of a dense storage warehouse in an embodiment of the present invention;
fig. 4 is a block diagram of a storage system according to an embodiment of the present invention;
fig. 5 is a block diagram of a job scheduling apparatus under dense storage according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Fig. 2 is a flowchart of steps of a job scheduling method under dense storage according to an embodiment of the present invention, where the method is applied to a scenario of multi-vehicle cooperative scheduling for improving warehouse entry and exit efficiency under a dense storage environment, and as shown in fig. 2, the method may include:
The path blocking relationship refers to a blocking relationship existing between the planned paths of two tasks to be executed, that is, the planned path of one task to be executed is blocked by the planned path of another task to be executed, that is, the execution of one task to be executed depends on the execution of another task to be executed, or the execution of one task to be executed affects the execution of another task to be executed.
And taking all tasks which do not start to be executed as tasks to be executed. Traversing all the tasks to be executed, determining a path obstruction relation between the tasks to be executed according to the path planning which can be carried out at the starting point and the end point of each task to be executed, thereby determining a dependency relation between the tasks to be executed, and classifying the tasks to be executed into at least one task dependency set according to the dependency relation between the tasks to be executed.
In an embodiment of the present invention, the determining a dependency relationship between the tasks to be executed according to a path blocking relationship between the tasks to be executed to obtain at least one task dependency set includes: determining a planning path of each task to be executed according to the starting point and the end point of each task to be executed; the method comprises the steps of classifying at least two tasks to be executed with dependency relationship into a task dependency set, classifying each task to be executed without dependency relationship with other tasks to be executed into a task dependency set to obtain at least one task dependency set, and arranging each task to be executed in each task dependency set according to the dependency relationship between each task to be executed, wherein if a path blocking relationship exists between planning paths of the two tasks to be executed, the fact that the two tasks to be executed have the dependency relationship is determined. In other words, there is a dependency relationship between the tasks to be executed in the same task dependency set, and there is no dependency relationship between the tasks to be executed in different task dependency sets.
Firstly, according to the starting point and the end point of each task to be executed, path planning is carried out on each task to be executed, and a planned path of each task to be executed is obtained; then determining whether a path blocking relationship exists between the planned paths of the tasks to be executed or not according to the planned paths of the tasks to be executed, if the path blocking relationship exists between the planned paths of the two tasks to be executed, determining that a dependency relationship exists between the two tasks to be executed, and classifying at least two tasks to be executed with the dependency relationship into a task dependency set; and taking the tasks to be executed without the dependency relationship with other tasks to be executed as an independent task dependency set, thereby obtaining at least one task dependency set. The dependency relationship of each task to be executed is determined according to the path obstruction relationship between each task to be executed, so that the tasks to be executed are divided into at least one task dependency set, and each task to be executed is conveniently executed according to the dependency relationship in the task dependency set in the follow-up process, and the operation efficiency is improved.
For example, there are currently 4 tasks that have not been executed, that is, there are 4 tasks to be executed, the specific information of the tasks to be executed is shown in table 1, the field layout structure of the dense storage warehouse is shown in fig. 3, B, C, and F are sites, the positions of a, D, E, and G are 4 positions in a roadway, and the roadway is a single-port roadway, so that a constitutes a path block for D, and task002 and task003 are both completed first depending on task 001; meanwhile, task002 also depends on task003 to finish warehouse-out first, in order to release D storehouse position; therefore, the task001 to task003 form a task dependency set, and the internal dependency execution order is: task001> task003> task002.task004 is an independent set of dependencies.
TABLE 1 information of unexecuted tasks
| Task ID | Type (B) | Starting point | Terminal point |
| task001 | Go out of warehouse | A | B |
| task002 | Warehousing | C | D |
| task003 | Transfer warehouse | D | E |
| task004 | Put in storage | F | G |
It should be noted that, because there is no dependency relationship between the tasks to be executed in the task dependency sets, the task dependency sets may be executed in parallel, and the tasks to be executed in the task dependency sets may be executed in sequence according to the dependency relationship of the tasks to be executed.
Each task to be executed in the task dependency set may belong to different lanes or may belong to the same lane, so that each task dependency set is split according to the lane to which the task to be executed belongs and the task type, each task dependency set is split into at least one task subset, and as a dependency relationship exists among the tasks to be executed in the task dependency set, the dependency relationship among the task subsets in each task dependency set can be determined. The roadway to which the task to be executed belongs is a roadway into which goods are to be moved by the task to be executed or a roadway out of which the goods are to be moved by the task to be executed.
In an embodiment of the present invention, the splitting each task dependency set into at least one task subset according to a lane to which a task to be executed in each task dependency set belongs and a task type, and determining a dependency relationship between the task subsets includes: taking the tasks to be executed which belong to the same roadway, have the same moving direction in the roadway and the same task type in each task dependency set and have the adjacent priorities in each task dependency set as task subsets; the priority of the tasks to be executed in each task dependency set is determined according to the dependency relationship among the tasks to be executed; and determining the dependency relationship of each task subset according to the dependency relationship between each task to be executed in each task dependency set.
The tasks to be executed in each independent task dependency set can be divided into a plurality of task subsets according to the following principle: starting points or end points of the tasks to be executed belong to the same roadway; the moving directions of the to-be-executed tasks in the roadway are consistent in the executing process; and the tasks to be executed belonging to the task subset are of adjacent priority, that is, the dependency relationship between the tasks to be executed is not blocked by the tasks to be executed which cannot simultaneously satisfy the 2 points. For the single-port roadway, the uniform moving direction is to move the goods out of the roadway or move the goods into the roadway; in the case of a double-port tunnel, the uniform moving direction means that the goods are carried into the tunnel from the same side or carried out from the same side.
For example, in the dependency set task001> task003> task002 obtained by the above example, since task002 is a single entry lane and task001 and task003 are single exit lanes in the same direction, the 2 smallest task subsets that can be divided are set as { task001> task003} and { task002}.
And connecting the task subsets divided from each independent dependency set in series according to the dependency relationship to obtain the dependency relationship among the task subsets, for example: { task001> task003} > { task002}.
And 203, determining the priority of each task subset according to the dependency relationship among the task subsets, and determining the priority of the tasks to be executed in each task subset according to the dependency relationship among the tasks to be executed in the task subsets.
If one task subset depends on another task subset, the priority of the depended-on task subset is higher than that of the task subset depending on the other task subset, so that the priority of each task subset can be determined according to the dependency relationship among the task subsets. Similarly, the priority among the tasks to be executed in the task subset can be determined according to the dependency among the tasks to be executed.
The determining the priority of the tasks to be executed in each task subset according to the dependency relationship among the tasks to be executed in each task subset includes: and determining the priority of each task to be executed in the task subset according to the number of the front tasks to be executed, which are depended by each task to be executed, in the task subset.
The priority of each task to be executed in the task subset is equal to the number of the front tasks to be executed, which are depended by each task to be executed in the task subset, and the smaller the number of the front tasks to be executed, the higher the priority. For example, in the minimum task subset task001> task003 obtained in the above example, the task001 priority value is 0, the task003 priority value is 1, and the task001 priority is higher than the task003 priority.
For the task subset, the priority of each task subset can be determined according to a determination mode of the priority of each task to be executed in the task subset, that is, the priority of the task subset is determined according to the number of the task subsets which are pre-positioned and depended on by the task subset.
And step 204, executing the task subsets in sequence according to the priority of the task subsets.
And executing the task subsets in sequence according to the sequence of the priorities of the task subsets from high to low.
Wherein, step 204 may include the following steps:
The conveying device may be, for example, a robot capable of conveying goods, such as a robot guided vehicle, a forklift, and a robot.
When each task subset is executed, at least one carrying device for executing the tasks to be executed in the task subset is determined, so that the tasks to be executed in the task subset are executed in an execution mode corresponding to the task type according to the task type in the task subset, and the at least one carrying device is scheduled to execute the tasks to be executed in the task subset according to the priority of the tasks to be executed in the task subset.
In an embodiment of the present invention, the determining at least one transporting apparatus for performing the task to be performed in the task subset optionally includes: taking the minimum value of the number of the tasks to be executed in the task subset and the number of the current idle carrying equipment as the number of the carrying equipment for executing the tasks to be executed in the task subset; and selecting the number of the conveying equipment from the current idle conveying equipment as at least one conveying equipment for executing the task to be executed in the task subset.
If the number of the tasks to be executed in the task subset is smaller than the number of the current idle carrying devices, taking the number of the tasks to be executed in the task subset as the number of the carrying devices for executing the tasks to be executed in the task subset; and if the number of the tasks to be executed in the task subset is larger than the number of the current idle carrying equipment, taking the number of the current idle carrying equipment as the number of the carrying equipment for executing the tasks to be executed in the task subset. After determining the number of the transporting devices executing the task to be executed in the task subset, the number of the transporting devices may be selected from the currently idle transporting devices according to the principle of the closest navigation distance, and the selected number of the transporting devices may be used as at least one transporting device executing the task to be executed in the task subset. By taking the minimum value of the number of the tasks to be executed in the task subset and the number of the current idle carrying devices as the number of the carrying devices for executing the tasks to be executed in the task subset, the tasks to be executed in the task subset can be executed fastest, and the operation efficiency is improved.
In an embodiment of the present invention, the scheduling, according to the task type in the task subset and according to the priority of the tasks to be executed in the task subset, the at least one transporting device to execute the tasks to be executed in the task subset includes:
if the task type in the task subset is to move the goods out of the roadway, controlling the at least one carrying device to go to a roadway port of the roadway, distributing tasks to be executed with corresponding priorities to the at least one carrying device according to the sequence of the at least one carrying device reaching the roadway port, and controlling the at least one carrying device to execute the tasks to be executed;
and if the task type in the task subset is to carry goods into the roadway, sequentially distributing the tasks to be executed in the current task subset to the at least one carrying device according to the priority of the tasks to be executed in the current task subset, and controlling the at least one carrying device to execute the tasks to be executed.
If the task type in the task subset is to move the goods out of the roadway, controlling at least one carrying device to go to a roadway opening of the roadway, and when the carrying device reaches the roadway opening, allocating the carrying device with a task to be executed. When the tasks to be executed are distributed to the carrying equipment, the tasks to be executed with corresponding priorities are distributed to the at least one carrying equipment according to the sequence of the at least one carrying equipment reaching the road junction, and after the tasks to be executed are distributed to the at least one carrying equipment, the at least one carrying equipment is controlled to execute the tasks to be executed.
If the task type in the task subset is to carry goods into the roadway, the tasks to be executed in the current task subset are sequentially distributed to at least one carrying device according to the sequence of the priorities of the tasks to be executed in the current task subset from high to low, the at least one carrying device is controlled to carry the goods to the starting point of the task to be executed, and the goods are carried to the end point of the task to be executed.
In an embodiment of the present invention, if the task type in the task subset is to move the goods out of the lane, the allocating, according to the order in which the at least one transporting device arrives at the lane opening, a task to be executed with a corresponding priority to the at least one transporting device, and controlling the at least one transporting device to execute the task to be executed includes:
if the number of the at least one carrying device is N, then:
distributing a task to be executed with a priority value of N-1 to first carrying equipment reaching the road junction, and controlling the first carrying equipment to enter a roadway to reach the position of the corresponding task to be executed;
distributing a task to be executed with a priority value of N-2 to second carrying equipment reaching the road junction, and controlling the second carrying equipment to enter the roadway to reach the position corresponding to the task to be executed;
until the Nth carrying equipment reaching the road junction is allocated with a task to be executed with the priority value of 0, and the Nth carrying equipment is controlled to enter the roadway to reach the position corresponding to the task to be executed; according to the sequence of the priority values from large to small, the corresponding priority is from low to high;
and sequentially controlling the N conveying devices to start and execute the tasks to be executed, wherein after the Nth conveying device is successfully started, the (N-1) th conveying device is controlled to start and execute the tasks to be executed until the first conveying device is started and executes the tasks to be executed.
Allocating a task to be executed with the priority value of N-1 to first carrying equipment reaching a road junction, and controlling the first carrying equipment to enter the road to reach the position of the corresponding task to be executed; distributing a task to be executed with a priority value of N-2 to second carrying equipment reaching the road junction of the roadway, and controlling the second carrying equipment to enter the roadway to reach the position corresponding to the task to be executed; and analogizing in turn, distributing tasks to be executed with corresponding priorities to the carrying equipment according to the sequence of the carrying equipment reaching the road junction, distributing the task to be executed with the priority value of 0 to the Nth carrying equipment reaching the road junction, and controlling the Nth carrying equipment to enter the roadway to reach the position of the corresponding task to be executed. When at least one carrying device enters the roadway, the Nth carrying device is started preferentially, namely the carrying device with the priority value of 0 is started preferentially, the carrying device is controlled to execute the task to be executed, namely the carrying device is controlled to carry the goods out of the roadway; after receiving a feedback signal of successful start of the Nth carrying equipment, starting the (N-1) th carrying equipment, and controlling the (N-1) th carrying equipment to execute a task to be executed; after receiving a feedback signal of successful start of the (N-1) th carrying equipment, starting the (N-2) th carrying equipment, and controlling the (N-2) th carrying equipment to execute a task to be executed; by analogy, at least one carrying device is started in sequence from high to low according to the priority until the first carrying device is started and the task to be executed is executed, and one carrying device is led out of the roadway next to the other carrying device, namely, at least one carrying device is led out of the roadway next to the biting tail, and the next carrying device is not required to be controlled to be led out of the roadway after one carrying device is completely led out of the roadway, so that the operation efficiency of the task to be executed in the task subset can be improved.
If the number of the at least one carrying device is the same as the number of the tasks to be executed in the task subset, the tasks to be executed in the task subset can be executed through the one-time control; if the number of the at least one carrying device is N, and N is smaller than the number S of the tasks to be executed in the task subset, the N carrying devices are firstly allocated with N tasks to be executed with higher priorities, the N carrying devices are controlled to execute the N tasks to be executed with higher priorities in the above mode, and after the tasks to be executed are executed, the remaining S-N tasks to be executed are allocated to the N carrying devices until the tasks to be executed in the task subset are executed.
In an embodiment of the present invention, when the task type in the task subset is to carry goods into a roadway, controlling the at least one carrying device to execute a task to be executed includes:
when one carrying device reaches the roadway opening of the roadway, if another carrying device corresponding to another task to be executed, which is higher than the task to be executed and executed by the carrying device by a priority, does not finish the roadway exit, the carrying device is controlled to wait until the other carrying device finishes the roadway exit, and the carrying device is controlled to execute the task to be executed.
When the task type in the task subset is to carry goods into a roadway, the tasks to be executed are distributed to at least one carrying device according to the sequence of the priority levels of the tasks to be executed from high to low, the at least one carrying device can be simultaneously controlled to go to the starting point of each task to be executed and carry the goods into the roadway, when one carrying device reaches the roadway opening of the roadway, whether another carrying device corresponding to another task to be executed and having a priority level higher than that of the task to be executed and executed by the carrying device completes the roadway or not is judged, if the other carrying device does not complete the roadway opening, the carrying device is controlled to wait near the roadway opening until another carrying device completes the roadway opening, the carrying device is controlled to execute the tasks to be executed, the goods are carried to the end point corresponding to the task to be executed in the roadway, and then the carrying device is controlled to go out of the roadway. It should be understood that, if the task type of one task to be performed is to move the goods into the roadway, the transporting device moves the goods into the corresponding end position (i.e., the corresponding storage position) in the roadway and then drives out of the roadway, and the transporting device is considered to complete the task to be performed. After the other carrying equipment for executing the high-priority task to be executed is executed and is out of the roadway, the carrying equipment for executing the next-priority task to be executed is controlled to execute the task to be executed, the other carrying equipment can be released in time, and the other carrying equipment can execute other tasks, so that the operation efficiency can be improved.
If the number of the at least one carrying device is the same as the number of the tasks to be executed in the task subset, the tasks to be executed in the task subset can be executed through the one-time control; if the number N of at least one carrying device is smaller than the number S of the tasks to be executed in the task subset, the N carrying devices are firstly allocated with N tasks to be executed with higher priority, the N carrying devices are controlled to execute the tasks to be executed according to the method, after one carrying device executing the tasks to be executed with higher priority completes the execution of the tasks to be executed, the carrying device can be allocated with the tasks to be executed with the next priority of the N tasks to be executed, the carrying device is controlled to execute the tasks to be executed, and the tasks to be executed are executed according to the method in the process of executing the tasks to be executed, namely the tasks to be executed are judged and executed according to the method when goods reach a road junction until the execution of the tasks to be executed in the task subset is completed.
According to the job scheduling method under the dense storage, at least one task dependency set is obtained through the dependency relationship among tasks to be executed, each task dependency set is divided into at least one task subset according to a roadway to which the tasks to be executed belong and the task type, the priority of each task subset and the priority of the tasks to be executed in each task subset are determined, each task subset is executed in sequence according to the priority of each task subset, and at least one carrying device is scheduled to execute the tasks to be executed in each task subset according to the priority of the tasks to be executed in each task subset. When the task subsets are executed, the task subsets are sequentially executed according to the priorities of the task subsets, and the tasks to be executed in each task subset are also executed according to the priorities of the tasks to be executed, so that the tasks to be executed which can block other tasks to be executed can be preferentially executed, the operation efficiency can be improved, and the warehouse entry and exit efficiency can be improved.
It should be noted that for simplicity of description, the method embodiments are shown as a series of combinations of acts, but those skilled in the art will recognize that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Fig. 4 is a schematic structural diagram of a warehousing system according to an embodiment of the present invention, and as shown in fig. 4, the warehousing system 400 includes a job scheduling device 401 and a handling device 402.
The job scheduling apparatus 401 is configured to execute the job scheduling method according to the embodiment of the present invention;
and a conveying device 402 for conveying the load under the control of the job scheduling apparatus 401.
When executing the job scheduling method, the job scheduling apparatus 401 executes the following steps:
determining a dependency relationship among the tasks to be executed according to the path obstruction relationship among the tasks to be executed to obtain at least one task dependency set;
according to the roadway and the task type of the task to be executed in each task dependency set, splitting each task dependency set into at least one task subset, and determining the dependency relationship among the task subsets; the task type comprises moving goods out of a roadway or moving goods into the roadway;
determining the priority of each task subset according to the dependency among the task subsets, and determining the priority of the tasks to be executed in each task subset according to the dependency among the tasks to be executed in each task subset;
executing each task subset in sequence according to the priority of each task subset;
when each task subset is executed, at least one carrying device for executing the tasks to be executed in the task subset is determined, and the at least one carrying device is scheduled to execute the tasks to be executed in the task subset according to the task types in the task subset and the priorities of the tasks to be executed in the task subset.
Optionally, the determining, according to the path hindrance relationship between the tasks to be executed, the dependency relationship between the tasks to be executed to obtain at least one task dependency set includes:
determining a planning path of each task to be executed according to the starting point and the end point of each task to be executed;
the method comprises the steps of classifying at least two tasks to be executed with dependency relationship into a task dependency set, classifying each task to be executed without dependency relationship with other tasks to be executed into a task dependency set to obtain at least one task dependency set, and arranging each task to be executed in each task dependency set according to the dependency relationship between each task to be executed, wherein if a path blocking relationship exists between planning paths of the two tasks to be executed, the fact that the two tasks to be executed have the dependency relationship is determined.
Optionally, the splitting each task dependency set into at least one task subset according to the roadway and the task type of the task to be executed in each task dependency set, and determining a dependency relationship between task subsets includes:
taking the tasks to be executed which belong to the same roadway, have the same moving direction in the roadway and the same task type in each task dependency set and have the adjacent priorities in each task dependency set as task subsets; the priority of the tasks to be executed in each task dependency set is determined according to the dependency relationship among the tasks to be executed;
and determining the dependency relationship of each task subset according to the dependency relationship between each task to be executed in each task dependency set.
Optionally, the determining the priority of the tasks to be executed in each task subset according to the dependency relationship between the tasks to be executed in each task subset includes:
and determining the priority of each task to be executed in the task subset according to the number of the tasks to be executed which are dependent on each task to be executed in the task subset.
Optionally, the scheduling, according to the task type in the task subset and according to the priority of the tasks to be executed in the task subset, the at least one transporting device to execute the tasks to be executed in the task subset includes:
if the task type in the task subset is to carry goods out of the roadway, controlling the at least one carrying device to go to a roadway opening of the roadway, distributing tasks to be executed with corresponding priorities to the at least one carrying device according to the sequence of the at least one carrying device reaching the roadway opening, and controlling the at least one carrying device to execute the tasks to be executed;
and if the task type in the task subset is to carry goods into the roadway, sequentially distributing the tasks to be executed in the current task subset to the at least one carrying device according to the priority of the tasks to be executed in the current task subset, and controlling the at least one carrying device to execute the tasks to be executed.
Optionally, the allocating, according to the order in which the at least one transporting apparatus reaches the road junction, tasks to be executed with corresponding priorities to the at least one transporting apparatus, and controlling the at least one transporting apparatus to execute the tasks to be executed includes:
if the number of the at least one handling device is N, then:
distributing a task to be executed with a priority value of N-1 to first carrying equipment reaching the road junction, and controlling the first carrying equipment to enter a roadway to reach the position of the corresponding task to be executed;
distributing a task to be executed with a priority value of N-2 to second carrying equipment reaching the road junction, and controlling the second carrying equipment to enter the roadway to reach the position corresponding to the task to be executed;
until the Nth carrying equipment reaching the road junction is allocated with a task to be executed with the priority value of 0, the Nth carrying equipment is controlled to enter the roadway to reach the position of the corresponding task to be executed; according to the sequence of the priority values from large to small, the corresponding priority values are from low to high;
and sequentially controlling the N conveying devices to start and execute the tasks to be executed, wherein after the Nth conveying device is successfully started, the (N-1) th conveying device is controlled to start and execute the tasks to be executed until the first conveying device is started and executes the tasks to be executed.
Optionally, when the task type in the task subset is to carry goods into the roadway, controlling the at least one carrying device to execute the task to be executed includes:
when one carrying device reaches the roadway opening of the roadway, if another carrying device corresponding to another task to be executed, which is higher than the task to be executed and executed by the carrying device by a priority, does not finish the roadway exit, the carrying device is controlled to wait until the other carrying device finishes the roadway exit, and the carrying device is controlled to execute the task to be executed.
Optionally, the determining at least one transporting device that executes the task to be executed in the task subset includes:
taking the minimum value of the number of the tasks to be executed in the task subset and the number of the current idle carrying equipment as the number of the carrying equipment for executing the tasks to be executed in the task subset;
and selecting the number of the conveying equipment from the current idle conveying equipment as at least one conveying equipment for executing the task to be executed in the task subset.
According to the warehousing system provided by the embodiment, the job scheduling device sequentially executes each task subset according to the priority of the task subset when scheduling the carrying equipment to execute the task subset, and executes each to-be-executed person according to the priority of the to-be-executed task when executing the to-be-executed task in the task subset, so that the to-be-executed task which can obstruct other to-be-executed tasks can be preferentially executed, the job efficiency can be improved, and the warehousing and ex-warehousing efficiency can be improved.
Fig. 5 is a block diagram illustrating a configuration of a job scheduling apparatus under dense storage according to an embodiment of the present invention, and as shown in fig. 5, the job scheduling apparatus under dense storage may include:
a task dependency set determining module 501, configured to determine a dependency relationship between the tasks to be executed according to a path obstruction relationship of each task to be executed, so as to obtain at least one task dependency set;
a subset dividing module 502, configured to divide each task dependency set into at least one task subset according to a roadway and a task type to which a task to be executed in each task dependency set belongs, and determine a dependency relationship between the task subsets; the task type comprises moving goods out of a roadway or moving goods into the roadway;
the priority determining module 503 is configured to determine the priority of each task subset according to the dependency between each task subset, and determine the priority of the task to be executed in each task subset according to the dependency between each task to be executed in each task subset;
a subset execution control module 504, configured to execute each task subset in sequence according to the priority of each task subset;
the subset execution control module 504 includes:
the intra-subset task control unit 5041 is configured to, when each task subset is executed, determine at least one transporting device that executes a task to be executed in the task subset, and schedule the at least one transporting device to execute the task to be executed in the task subset according to the task type in the task subset and the priority of the task to be executed in the task subset.
Optionally, the task dependency set determining module includes:
the task planning path determining unit is used for determining the planning path of each task to be executed according to the starting point and the end point of each task to be executed;
the task dependency set determining unit is used for classifying at least two tasks to be executed with dependency relationship into a task dependency set, classifying each task to be executed without dependency relationship with other tasks to be executed into a task dependency set to obtain at least one task dependency set, and arranging each task to be executed in each task dependency set according to the dependency relationship between each task to be executed, wherein if a path blocking relationship exists between the planning paths of the two tasks to be executed, the two tasks to be executed are determined to have the dependency relationship.
Optionally, the subset partitioning module includes:
the subset dividing unit is used for taking the tasks to be executed which belong to the same roadway, have the same moving direction in the roadway, have the same task type and are adjacent in priority in each task dependency set as task subsets; the priority of the tasks to be executed in each task dependency set is determined according to the dependency relationship among the tasks to be executed;
and the subset dependency relationship determining unit is used for determining the dependency relationship of each task subset according to the dependency relationship among the tasks to be executed in each task dependency set.
Optionally, the priority determining module includes:
and the task priority determining unit is used for determining the priority of each task to be executed in the task subset according to the number of the tasks to be executed which are dependent on each task to be executed in the task subset.
Optionally, the task control unit in the subset includes:
the tunnel exit task control sub-module is used for controlling the at least one carrying device to go to a tunnel junction of the tunnel if the task type in the task subset is to carry goods out of the tunnel, distributing tasks to be executed with corresponding priorities to the at least one carrying device according to the sequence of the at least one carrying device reaching the tunnel junction, and controlling the at least one carrying device to execute the tasks to be executed;
and the roadway entry task control sub-module is used for sequentially distributing the tasks to be executed in the current task subset to the at least one carrying device according to the priority of the tasks to be executed in the current task subset if the task type in the task subset is to carry goods into the roadway, and controlling the at least one carrying device to execute the tasks to be executed.
Optionally, the exit task control sub-module includes:
the carrying equipment arrives at the roadway control subunit, and is used for, if the number of the at least one carrying equipment is N:
distributing a task to be executed with a priority value of N-1 to first carrying equipment reaching the road junction, and controlling the first carrying equipment to enter a roadway to reach the position of the corresponding task to be executed;
distributing a task to be executed with the priority value of N-2 to second carrying equipment reaching the road junction, and controlling the second carrying equipment to enter the roadway to reach the position corresponding to the task to be executed;
until the Nth carrying equipment reaching the road junction is allocated with a task to be executed with the priority value of 0, the Nth carrying equipment is controlled to enter the roadway to reach the position of the corresponding task to be executed; according to the sequence of the priority values from large to small, the corresponding priority values are from low to high;
and the first carrying equipment task execution control subunit is used for sequentially controlling the N carrying equipment to start and execute the task to be executed, wherein after the Nth carrying equipment is successfully started, the Nth-1 th carrying equipment is controlled to start and execute the task to be executed until the first carrying equipment is started and executes the task to be executed.
Optionally, the entry task control sub-module includes:
and the second carrying equipment task execution control subunit is used for controlling one carrying equipment to wait until the other carrying equipment finishes going out of the roadway and controlling the carrying equipment to execute the task to be executed if the other carrying equipment corresponding to the other task to be executed and having higher priority than the task to be executed and executed by the carrying equipment does not finish going out of the roadway when the one carrying equipment reaches the roadway opening of the roadway.
Optionally, the task control unit in the subset includes:
the transport equipment number determining submodule is used for taking the minimum value of the number of the tasks to be executed in the task subset and the number of the current idle transport equipment as the number of the transport equipment for executing the tasks to be executed in the task subset;
and the conveying equipment determining submodule is used for selecting the conveying equipment with the number from the current idle conveying equipment as at least one conveying equipment for executing the task to be executed in the task subset.
In the job scheduling device under the dense storage of this embodiment, at least one task dependency set is obtained by a task dependency set determination module according to a dependency relationship between tasks to be executed, a subset division module divides each task dependency set into at least one task subset according to a tunnel to which the tasks to be executed belong and a task type, and determines a priority of each task subset and a priority of the tasks to be executed in each task subset, a subset execution control module sequentially executes each task subset according to the priority of each task subset, and a task control unit in the subset schedules at least one carrying device to execute the tasks to be executed in the task subsets according to the priority of the tasks to be executed in each task subset. When the task subsets are executed, the task subsets are sequentially executed according to the priorities of the task subsets, and the tasks to be executed in each task subset are also executed according to the priorities of the tasks to be executed, so that the tasks to be executed which can block other tasks to be executed can be preferentially executed, the operation efficiency can be improved, and the warehouse entry and exit efficiency can be improved.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
Further, according to an embodiment of the present invention, there is provided an electronic apparatus including: a processor, a memory and a computer program stored on the memory and executable on the processor, which when executed by the processor implements the job scheduling method under dense storage of the foregoing embodiments.
According to an embodiment of the present invention, there is also provided a computer readable storage medium including, but not limited to, a disk memory, a CD-ROM, an optical memory, etc., having a computer program stored thereon, which when executed by a processor implements the job scheduling method under dense storage of the foregoing embodiments.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one of skill in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrases "comprising one of \ 8230; \8230;" does not exclude the presence of additional like elements in a process, method, article, or terminal device that comprises the element.
The job scheduling method, the job scheduling device, the job scheduling warehousing system, the job scheduling electronic equipment and the job scheduling storage medium under the intensive storage provided by the invention are introduced in detail, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (12)
1. A job scheduling method under intensive storage is characterized by comprising the following steps:
determining a dependency relationship among the tasks to be executed according to a path obstruction relationship among the tasks to be executed to obtain at least one task dependency set, determining a dependency relationship among the tasks to be executed according to a path obstruction relationship among the tasks to be executed, and obtaining the at least one task dependency set comprises: classifying at least two tasks to be executed with dependency relationship into a task dependency set, and classifying each task to be executed without dependency relationship with other tasks to be executed into a task dependency set to obtain at least one task dependency set;
according to the roadway and the task type of the task to be executed in each task dependency set, splitting each task dependency set into at least one task subset, and determining the dependency relationship among the task subsets; the task type includes moving goods out of a roadway or moving goods into the roadway, and the splitting of each task dependency set into at least one task subset according to the roadway and the task type to which the task to be executed in each task dependency set belongs includes: taking the tasks to be executed which belong to the same roadway, have the same moving direction in the roadway and the same task type in each task dependency set and have the adjacent priorities in each task dependency set as task subsets;
determining the priority of each task subset according to the dependency among the task subsets, and determining the priority of the tasks to be executed in each task subset according to the dependency among the tasks to be executed in each task subset;
executing each task subset in sequence according to the priority of each task subset;
when each task subset is executed, at least one carrying device for executing the tasks to be executed in the task subset is determined, and the at least one carrying device is scheduled to execute the tasks to be executed in the task subset according to the task types in the task subset and the priorities of the tasks to be executed in the task subset.
2. The method according to claim 1, wherein the determining a dependency relationship between the tasks to be executed according to the path blocking relationship between the tasks to be executed to obtain at least one task dependency set comprises:
determining a planning path of each task to be executed according to the starting point and the end point of each task to be executed;
and arranging the tasks to be executed in each task dependency set according to the dependency relationship between the tasks to be executed, wherein if a path blocking relationship exists between the planned paths of the two tasks to be executed, the two tasks to be executed are determined to have the dependency relationship.
3. The method according to claim 1 or 2, wherein the splitting each task dependency set into at least one task subset according to the lane to which the task to be executed in each task dependency set belongs and the task type, and determining the dependency relationship between the task subsets comprises:
the priority of the tasks to be executed in each task dependency set is determined according to the dependency relationship among the tasks to be executed;
and determining the dependency relationship of each task subset according to the dependency relationship between each task to be executed in each task dependency set.
4. The method according to any one of claims 1-2, wherein the determining the priority of the tasks to be executed in each task subset according to the dependency relationship between the tasks to be executed in each task subset comprises:
and determining the priority of each task to be executed in the task subset according to the number of the front tasks to be executed, which are depended by each task to be executed, in the task subset.
5. The method according to any one of claims 1-2, wherein the scheduling the at least one handling device to execute the tasks to be executed in the task subset according to the task types in the task subset and the priorities of the tasks to be executed in the task subset comprises:
if the task type in the task subset is to move the goods out of the roadway, controlling the at least one carrying device to go to a roadway port of the roadway, distributing tasks to be executed with corresponding priorities to the at least one carrying device according to the sequence of the at least one carrying device reaching the roadway port, and controlling the at least one carrying device to execute the tasks to be executed;
and if the task type in the task subset is to carry goods into the roadway, sequentially distributing the tasks to be executed in the current task subset to the at least one carrying device according to the priority of the tasks to be executed in the current task subset, and controlling the at least one carrying device to execute the tasks to be executed.
6. The method according to claim 5, wherein the step of allocating tasks to be executed with corresponding priority to the at least one handling device according to the sequence of arrival of the at least one handling device at the road junction and controlling the at least one handling device to execute the tasks to be executed comprises:
if the number of the at least one handling device is N, then:
distributing a task to be executed with a priority value of N-1 to first carrying equipment reaching the road junction, and controlling the first carrying equipment to enter a roadway to reach the position of the corresponding task to be executed;
distributing a task to be executed with a priority value of N-2 to second carrying equipment reaching the road junction, and controlling the second carrying equipment to enter the roadway to reach the position corresponding to the task to be executed;
until the Nth carrying equipment reaching the road junction is allocated with a task to be executed with the priority value of 0, the Nth carrying equipment is controlled to enter the roadway to reach the position of the corresponding task to be executed; according to the sequence of the priority values from large to small, the corresponding priority values are from low to high;
and sequentially controlling the N conveying devices to start and execute the tasks to be executed, wherein after the Nth conveying device is successfully started, the N-1 st conveying device is controlled to start and execute the tasks to be executed until the first conveying device is started and executes the tasks to be executed.
7. The method according to claim 5, wherein when the task type in the task subset is to move the cargo into the roadway, controlling the at least one handling device to perform the task to be performed comprises:
when one carrying device reaches the roadway opening of the roadway, if another carrying device corresponding to another task to be executed, which is higher than the task to be executed and executed by the carrying device by a priority, does not finish the roadway exit, the carrying device is controlled to wait until the other carrying device finishes the roadway exit, and the carrying device is controlled to execute the task to be executed.
8. The method of claim 1, wherein determining at least one handling device to perform the task to be performed in the subset of tasks comprises:
taking the minimum value of the number of the tasks to be executed in the task subset and the number of the current idle carrying equipment as the number of the carrying equipment for executing the tasks to be executed in the task subset;
and selecting the number of the conveying equipment from the current idle conveying equipment as at least one conveying equipment for executing the task to be executed in the task subset.
9. A warehousing system, comprising:
job scheduling means for executing the job scheduling method according to any one of claims 1 to 8;
and the conveying equipment is used for conveying goods under the control of the operation scheduling device.
10. A job scheduling apparatus under dense storage, comprising:
a task dependency set determining module, configured to determine a dependency relationship between tasks to be executed according to a path obstruction relationship of each task to be executed, to obtain at least one task dependency set, where the task dependency set determining module includes: the task dependency set determining unit is used for classifying at least two tasks to be executed with dependency relationship into a task dependency set, classifying each task to be executed without dependency relationship with other tasks to be executed into a task dependency set, and obtaining at least one task dependency set;
the subset dividing module is used for dividing each task dependency set into at least one task subset according to the roadway and the task type of the task to be executed in each task dependency set, and determining the dependency relationship among the task subsets; wherein, the task type includes moving the goods out of the tunnel or moving the goods into the tunnel, the subset partition module includes: the subset dividing unit is used for taking the tasks to be executed which belong to the same roadway, have the same moving direction in the roadway, have the same task type and are adjacent in priority in each task dependency set as task subsets;
the priority determining module is used for determining the priority of each task subset according to the dependency relationship among the task subsets and determining the priority of the tasks to be executed in each task subset according to the dependency relationship among the tasks to be executed in the task subsets;
the subset execution control module is used for sequentially executing each task subset according to the priority of each task subset;
wherein the subset execution control module comprises:
and the task control unit in the subset is used for determining at least one carrying device for executing the tasks to be executed in the task subset when executing each task subset, and scheduling the at least one carrying device to execute the tasks to be executed in the task subset according to the task types in the task subset and the priorities of the tasks to be executed in the task subset.
11. An electronic device, comprising: a processor, a memory and a computer program stored on and executable on said memory, said computer program when executed by said processor implementing a method of job scheduling under dense storage as claimed in any one of claims 1 to 8.
12. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, implements a method for job scheduling under dense storage according to any one of claims 1-8.
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| CN110874673B (en) * | 2019-11-15 | 2022-09-27 | 北京旷视机器人技术有限公司 | Container scheduling method and device for dense storage and electronic equipment |
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